Neural Network Controller against Environment: A Coevolutive approach to Generalize Robot Navigation Behavior

Authors:
A. Berlanga;A. Sanchis;P. Isasi;J. M. Molina
Affiliations:
ScaLab, Universidad Carlos III, Avda Universidad, 30, 28911, Madrid, Spain/ e-mail: aberlan@ia.uc3m.es;ScaLab, Universidad Carlos III, Avda Universidad, 30, 28911, Madrid, Spain/ e-mail: masm@inf.uc3m.es;ScaLab, Universidad Carlos III, Avda Universidad, 30, 28911, Madrid, Spain/ e-mail: isasi@ia.uc3m.es;ScaLab, Universidad Carlos III, Avda Universidad, 30, 28911, Madrid, Spain/ e-mail: molina@ia.uc3m.es
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

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Abstract

In this paper, a multi-layered feed-forward neural network is trained on-line by robust adaptive dead zone scheme to identify simulated faults occurring in the robot system and reconfigure the control law to prevent the tracking performance from deteriorating ...